摘要
为提升口罩包装生产线的智能化程度,实现并联机器人对高速运行的口罩枕包动态抓取,采用Eye-to-Hand视觉检测和编码器位置反馈相结合的形式,通过机器视觉的图像采集与分析处理,利用改进型自适应Canny边缘检测算法,获得目标动态位姿信息,结合目标动态跟踪抓取策略,实现并联机器人末端吸盘组件及时完成目标动态抓取。并通过在不同的同步传送带运行速度下进行实验测试,系统并联机器人能对高速运行的口罩枕包目标进行高频率、高准确的动态抓取目标,避免漏抓或错抓现象发生,提高生产效率,降低生产成本,提升口罩枕包生产线的智能化程度。
In order to improve the intelligence of the mask packaging production line and realize the dynamic grasping of the high-speed mask pillow bag by the parallel robot,this paper adopts the combination of eye to hand visual detection and encoder position feedback,obtains the target dynamic pose information through the image acquisition,analysis and processing of machine vision and the improved adaptive Canny edge detection algorithm.Combined with the target dynamic tracking and grasping strategy,the end sucker assembly of the parallel robot can complete the target dynamic grasping in time.Through the experimental test under different synchronous conveyor belt running speeds,the system parallel robot can dynamically grasp the target with high frequency and high accuracy for the high-speed mask pillow bag target,avoid missing or wrong grasping,improve the production efficiency,reduce the production cost and improve the intelligence of the mask pillow bag production line.
作者
徐伟锋
胡俊武
叶佳佳
祝新军
Xu Weifeng;Hu Junwu;Ye Jiajia;Zhu Xinjun(Shaoxing Vocational and Technical College,Shaoxing 312000,China;Zhende Medical Supplies Co.,Ltd.,Shaoxing 312000,China)
出处
《国外电子测量技术》
北大核心
2022年第3期152-157,共6页
Foreign Electronic Measurement Technology
基金
2021年绍兴市“揭榜挂帅”制科技项目“医用平面口罩全流程智能化高速生产系统开发”(2021B41007)资助
关键词
视觉检测
并联机器人
口罩枕包
动态抓取
visual inspection
parallel robot
mask pillow bag
dynamic grab
作者简介
徐伟锋,硕士,副教授,高级工程师,主要研究方向为智能控制、视觉检测、智能机器人等。E-mail:xuwf@sxvtc.com
